161 lines
4.4 KiB
C
161 lines
4.4 KiB
C
/*
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* Copyright (c) 2006-2023, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2019-08-23 balanceTWK first version
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* 2021-01-19 Leslie Lee port to imxrt series
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*/
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#include <rtthread.h>
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#include <rtdevice.h>
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#ifdef BSP_USING_PULSE_ENCODER
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#include "fsl_common.h"
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#include "fsl_enc.h"
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#define LOG_TAG "drv.pulse_encoder"
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#include <drv_log.h>
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#if !defined(BSP_USING_PULSE_ENCODER1) && !defined(BSP_USING_PULSE_ENCODER2) && !defined(BSP_USING_PULSE_ENCODER3) \
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&& !defined(BSP_USING_PULSE_ENCODER4)
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#error "Please define at least one BSP_USING_PULSE_ENCODERx"
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/* this driver can be disabled at menuconfig -> RT-Thread Components -> Device Drivers */
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#elif (defined(BSP_USING_PULSE_ENCODER2) || defined(BSP_USING_PULSE_ENCODER3) || defined(BSP_USING_PULSE_ENCODER4)) || defined(SOC_IMXRT1015_SERIES)
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#error "IMXRT1015 had only one quadrature decoder module"
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#elif (defined(BSP_USING_PULSE_ENCODER3) || defined(BSP_USING_PULSE_ENCODER4)) || defined(SOC_IMXRT1020_SERIES)
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#error "IMXRT1020 had only two quadrature decoder module"
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#endif
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enum
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{
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#ifdef BSP_USING_PULSE_ENCODER1
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PULSE_ENCODER1_INDEX,
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#endif
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#ifdef BSP_USING_PULSE_ENCODER2
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PULSE_ENCODER2_INDEX,
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#endif
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#ifdef BSP_USING_PULSE_ENCODER3
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PULSE_ENCODER3_INDEX,
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#endif
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#ifdef BSP_USING_PULSE_ENCODER4
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PULSE_ENCODER4_INDEX,
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#endif
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};
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struct imxrt_pulse_encoder_device
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{
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struct rt_pulse_encoder_device pulse_encoder;
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ENC_Type *base;
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char *name;
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};
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typedef struct imxrt_pulse_encoder_device imxrt_pulse_enccoder_device_t;
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static imxrt_pulse_enccoder_device_t imxrt_pulse_encoder_obj[] =
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{
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#ifdef BSP_USING_PULSE_ENCODER1
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{
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.base = ENC1,
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.name = "pulse1"
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},
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#endif
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#ifdef BSP_USING_PULSE_ENCODER2
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{
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.base = ENC2,
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.name = "pulse2"
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},
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#endif
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#ifdef BSP_USING_PULSE_ENCODER3
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{
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.base = ENC3,
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.name = "pulse3"
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},
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#endif
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#ifdef BSP_USING_PULSE_ENCODER4
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{
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.base = ENC4,
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.name = "pulse4"
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},
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#endif
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};
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rt_err_t pulse_encoder_init(struct rt_pulse_encoder_device *pulse_encoder)
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{
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ENC_Type *base = ((imxrt_pulse_enccoder_device_t *)(pulse_encoder->parent.user_data))->base;
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enc_config_t enc_config;
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ENC_GetDefaultConfig(&enc_config);
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ENC_Init(base, &enc_config);
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ENC_DoSoftwareLoadInitialPositionValue(base); /* Update the position counter with initial value. */
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return RT_EOK;
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}
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rt_err_t pulse_encoder_clear_count(struct rt_pulse_encoder_device *pulse_encoder)
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{
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ENC_SetInitialPositionValue(((imxrt_pulse_enccoder_device_t *)(pulse_encoder->parent.user_data))->base, 0);
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return RT_EOK;
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}
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rt_int32_t pulse_encoder_get_count(struct rt_pulse_encoder_device *pulse_encoder)
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{
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return (rt_int32_t)ENC_GetPositionValue(((imxrt_pulse_enccoder_device_t *)(pulse_encoder->parent.user_data))->base);
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}
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rt_err_t pulse_encoder_control(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args)
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{
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rt_err_t result;
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result = RT_EOK;
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switch (cmd)
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{
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case PULSE_ENCODER_CMD_ENABLE:
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result = pulse_encoder->ops->init(pulse_encoder);
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break;
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case PULSE_ENCODER_CMD_DISABLE:
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ENC_Deinit(((imxrt_pulse_enccoder_device_t *)(pulse_encoder->parent.user_data))->base);
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break;
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default:
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result = -RT_ENOSYS;
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break;
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}
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return result;
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}
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static const struct rt_pulse_encoder_ops _ops =
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{
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.init = pulse_encoder_init,
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.get_count = pulse_encoder_get_count,
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.clear_count = pulse_encoder_clear_count,
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.control = pulse_encoder_control,
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};
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int rt_hw_pulse_encoder_init(void)
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{
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int i;
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int result;
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result = RT_EOK;
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for (i = 0; i < sizeof(imxrt_pulse_encoder_obj) / sizeof(imxrt_pulse_encoder_obj[0]); i++)
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{
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imxrt_pulse_encoder_obj[i].pulse_encoder.type = AB_PHASE_PULSE_ENCODER;
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imxrt_pulse_encoder_obj[i].pulse_encoder.ops = &_ops;
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imxrt_pulse_encoder_obj[i].pulse_encoder.parent.user_data = &(imxrt_pulse_encoder_obj[i]);
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if (rt_device_pulse_encoder_register(&imxrt_pulse_encoder_obj[i].pulse_encoder, imxrt_pulse_encoder_obj[i].name, &imxrt_pulse_encoder_obj[i]) != RT_EOK)
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{
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LOG_E("%s register failed", imxrt_pulse_encoder_obj[i].name);
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result = -RT_ERROR;
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}
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}
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return result;
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}
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INIT_BOARD_EXPORT(rt_hw_pulse_encoder_init);
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#endif
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